应用分块三次多项式的导引头测角精度标定

doi:10.3969/j.issn.1000-1093.2019.10.009

兵工学报 ›› 2019, Vol. 40 ›› Issue (10): 2042-2049.doi: 10.3969/j.issn.1000-1093.2019.10.009

应用分块三次多项式的导引头测角精度标定

袁东明^1，2，3，丁亚林¹，张健^1,3

(1.中国科学院长春光学精密机械与物理研究所, 吉林长春 130033; 2.中国科学院大学, 北京 100049;3.中国科学院长春光学精密机械与物理研究所航空光学成像与测量中国科学院重点实验室，吉林长春 130033)

收稿日期:2018-07-09 修回日期:2018-07-09 上线日期:2019-12-18
通讯作者: 丁亚林(1964—),男,研究员，博士生导师 E-mail:dingyl_1964@126.com
作者简介:袁东明(1988—),男,助理研究员，博士研究生。E-mail: 630464375@qq.com
基金资助:
高分专项航空系统项目(30-H32A01-9005-13/15)

Calibration of Seeker Angle-measuring Error with Block Three-order Polynomial

YUAN Dongming^1,2,3， DING Yalin¹, ZHANG Jian^1,3

(1.Changchun Institute of Optics, Fine Mechanics and Physics，Chinese Academy of Sciences， Changchun 130033， Jilin, China;2.University of Chinese Academy of Sciences, Beijing 100049, China; 3.Key Laboratory of Airborne Optical Imaging and Measurement, Changchun Institute of Optics, Fine Mechanics and Physics，Chinese Academy of Sciences, Changchun 130033, Jilin, China)

Received:2018-07-09 Revised:2018-07-09 Online:2019-12-18

摘要/Abstract

摘要： 为减小和消除零件机械加工、装调及传感器误差等对某激光捷联导引头测角精度的影响，提出应用分块三次多项式的导引头测角误差标定方法。根据各项系统误差特点，同时考虑实验过程中随机误差对标定的影响，采用分块三次多项式分别建立探测器输出俯仰角、偏航角到实际指向矢量俯仰角、偏航角的映射关系，实现了测角误差标定。研究结果表明：标定后俯仰角和偏航角误差均值分别由原来的0.136 0°、0.336 4°降至0.004 7°、0.001 5°，标准差也分别由原来的0.382 0°、 0.375 2°降至0.026 9°、0.022 7°；该标定方法在导引头工作视场内具有较高的精度和良好的一致性，且避免了构造复杂的数学模型进行参数识别，简便易行，可推广至类似系统的误差标定工作中。

关键词: 导引头, 分块三次多项式, 测角精度, 标定

Abstract: An angle-measuring error calibration method based on block three-order polynomial is proposed to reduce or eliminate the effects of machining error, assembly and adjustment error, sensor error on the angle-measuring accuracy of a laser seeker. With the consideration on the characteristics of each systematic error and the impact of random error during the experiment on calibration, the mapping relations between the pitch and yaw angles of the detector output and the real pitch and yaw angles of pointing vector are established through the block three-order polynomial for the calibration of angle-measuring error. The research results show that the calibrated means of yaw and pitch angle errors are decreased from 0.136 0° and 0.336 4° to 0.004 7° and 0.001 5°, respectively, and the standard deviations of yaw angle error and pitch angles are reduced from 0.382 0° and 0.375 2° to 0.026 9° and 0.022 7°, respectively. The proposed calibration algorithm has high accuracy and fine consistency in the field of view of seeker, and is easy to be used. A complicated mathematic model needs not to be established for parameter recognition when the proposed calibration method is used. Moreover, the method can be used for the error calibration of similar systems. Key

Key words: seeker, blockthree-orderpolynomial, angle-measuringaccuracy, calibration

中图分类号:

TJ765.3⁺32

袁东明，丁亚林，张健. 应用分块三次多项式的导引头测角精度标定[J]. 兵工学报, 2019, 40(10): 2042-2049.

YUAN Dongming， DING Yalin, ZHANG Jian. Calibration of Seeker Angle-measuring Error with Block Three-order Polynomial[J]. Acta Armamentarii, 2019, 40(10): 2042-2049.

参考文献

［1］ WALDMANN J. Line-of-sight rate estimation and linearizing control of an imaging seeker in tactical missile guided by proportional navigation［J］. IEEE Transactions on Control System Technology, 2002, 10(4):556-567.
［2］刘石祥, 尹健, 杜肖, 等. 基于寄生回路的导引头传递函数及测试方法［J］. 红外与激光工程, 2018, 47(5):227-233.
LIU S X, YIN J, DU X, et al. Transfer function and test method of seeker based on parasitic loop［J］. Infrared and Laser Engineering, 2018, 47(5):227-233.(in Chinese)
［3］崔瑞青, 王景文, 李晓梅, 等. 四象限探测器解算模型误差分析［J］. 激光与红外, 2011, 41(5):516-519.
CUI R Q, WANG J W, LI X M, et al. Model error analysis of quadrant photodetector［J］. Laser and Infrared, 2011, 41(5):516-519. (in Chinese)
［4］李波, 韩月, 丁翔, 等. 攻击地面群目标的空地导弹雷达与红外复合制导方法［J］. 兵工学报, 2018, 39(5):919-926.
LI B, HAN Y, DING X, et al. Radar and infrared compound guidance method for air-to-ground missile attacking ground grouptarget［J］. Acta Armamentarii, 2018, 39(5):919-926. (in Chinese)
［5］ DU G L, ZHANG P. Online robot calibration based on vision measurement［J］. Robotics and Computer-Integrated Manufactu- ring, 2013, 29(6):484-492.
［6］ YANG X D, WU L, LI J Q. A minimal kinematic model for serial robot calibration using POE formula［J］. Robotics and Computer-Integrated Manufacturing, 2014, 30(3):326-334.
［7］李华晋. 非参数模型摄像机标定方法及误差分析［D］. 天津: 天津大学, 2012.
LI H J. Non-parametric model camera calibration method and error analysis［D］. Tianjin:Tianjin University, 2012. (in Chinese)
［8］王欢, 周凌, 张鑫, 等. 检校场标定长焦航测相机参数［J］. 光学精密工程, 2018, 26(2):435-441.
WANG H, ZHOU L, ZHANG X, et al. Calibration parameters of long focal aerial mapping camera by means of calibration field［J］. Optics and Precision Engineering, 2018, 26(2):435-441. (in Chinese)
［9］ HUANG L, MA W L, HUANG J L. Modeling and calibration of pointing errors with alt-az telescope［J］. New Astronomy, 2016, 47:105-110.

［10］孙辉, 刘慧, 罗安治, 等. 应用模型线性化和最小二乘估计的导引头指向精度标定［J］. 光学精密工程, 2015,23(7):2060-2068.
SUN H, LIU H, LUO A Z, et al. Calibration of seeker's pointing error based on model linearization and least square estimation［J］. Optics and Precision Engineering, 2015, 23(7):2060-2068. (in Chinese)
［11］赵明, 白杨, 刘慧, 等. 导引头稳定平台指向误差建模与参数标定［J］. 红外与激光工程, 2013, 42(增刊2):374-379.
ZHAO M, BAI Y, LIU H, et al. Pointing error modeling and parameter calibration for seeker stabilized platform［J］. Infrared and Laser Engineering, 2013, 42(S2):374-379. (in Chinese)
［12］赵明, 朱明超, 白杨, 等. 应用LPOE公式与遗传算法标定导引头运动学参数［J］. 光学精密工程, 2014, 22(3):687-694.
ZHAO M, ZHU M C, BAI Y, et al. Calibration of kinematic parameters of seekers by LPOE formula and genetic algorithm［J］. Optics and Precision Engineering, 2014, 22(3):687-694. (in Chinese)
［13］朱明超, 王涛, 贾宏光. 基于指数积公式的导引头运动学分析与标定［J］. 红外与激光工程, 2011, 40(8):1556-1562.
ZHU M C, WANG T, JIA H G. Seeker kinematic analysis and calibration based on POE formula［J］. Infrared and Laser Engineering, 2011, 40(8):1556-1562. (in Chinese)
［14］陈勇, 祝天瑞, 李蕊. 基于插值法的四象限探测器测角算法设计与实现方法分析［J］. 红外与激光工程, 2011, 40(3):544-548.
CHEN Y, ZHU T R, LI R. Design and realization of the angle-measurement algorithm of the four-quadrant detector based on the interpolation algorithm［J］. Infrared and Laser Engineering, 2011, 40(3):544-548. (in Chinese)
［15］霍炬, 张贵阳, 崔家山, 等. 测量误差不确定性加权的立体视觉位姿估计目标函数［J］. 光学精密工程, 2018, 26(4):834-842.
HUO J, ZHANG G Y, CUI J S, et al. An objective function with measuring error uncertainty weighted for pose estimation in stereo vision［J］. Optics and Precision Engineering, 2018, 26(4):834-842. (in Chinese)
［16］王佩军, 徐亚明. 摄影测量学［M］. 武汉:武汉大学出版社, 2010:70-90.
WANG P J, XU Y M. Geo-spatial information science［M］. Wuhan: Wuhan University Press, 2010:70-90. (in Chinese)
［17］毛英泰. 误差理论与精度分析［M］. 北京:国防工业出版社, 1982:22-25.
MAO Y T. Error theory and accuracy analysis［M］. Beijing: National Defense Industry Press, 1982:22-25. (in Chinese)

第40卷
第10期2019 年10月兵工学报ACTA
ARMAMENTARIIVol.40No.10Oct.2019

[1]	段浩，陈晖，翟兆阳，韩雨，马凡华，崔亚辉. 基于支持向量机的氢混天然气发动机性能预测[J]. 兵工学报, 2022, 43(5): 1002-1011.
[2]	周建平，李威，温求遒，夏群利，姜欢. 考虑滚仰导引头寄生回路的旋转导弹驾驶仪稳定性设计[J]. 兵工学报, 2022, 43(1): 1-10.
[3]	陈珂，张勇飞，王杜林，刘子骏，符晓刚. 低温下导弹成像主镜支撑平台微小变形分析[J]. 兵工学报, 2021, 42(12): 2637-2645.
[4]	邹汝平，刘建书. 基于概率假设密度滤波与无迹Kalman滤波的多目标跟踪与识别[J]. 兵工学报, 2020, 41(8): 1502-1508.
[5]	靳冰洋，刘峥，秦基凯. 基于灰色关联度的两级实时航迹关联算法[J]. 兵工学报, 2020, 41(7): 1330-1338.
[6]	景文博，黄炳坤，刘健，于洪洋. 激光照射性能测量中异源相机的标定方法[J]. 兵工学报, 2020, 41(5): 924-931.
[7]	王领，申晓红，康玉柱，花飞，王海燕. 水声传感器网络信号到达时间差目标定位的最小二乘法估计性能[J]. 兵工学报, 2020, 41(3): 542-551.
[8]	王琪，汪立新，梁树晖，秦伟伟，沈强. 基于可观测性分析的混合式惯性导航系统连续自标定模型选择[J]. 兵工学报, 2020, 41(1): 56-67.
[9]	周泉，姚敏立，沈晓卫. 基于支持度的椭球拟合微机械电子系统加速度计现场标定方法研究[J]. 兵工学报, 2020, 41(1): 68-74.
[10]	董春梅，任顺清，陈希军，李巍. 一种激光陀螺捷联惯性导航系统级标定方法[J]. 兵工学报, 2019, 40(8): 1618-1626.
[11]	赵建博，杨树兴，熊芬芬. 基于领弹-从弹架构的无导引头导弹协同定位与制导方法[J]. 兵工学报, 2019, 40(4): 673-679.
[12]	李波，韩月，丁翔，李曦彤. 攻击地面群目标的空地导弹雷达与红外复合制导方法[J]. 兵工学报, 2018, 39(5): 919-926.
[13]	王大鹏，金星，周伟静，李南雷. 星载微推进器推力测量中电容位移传感器极板不平行误差分析[J]. 兵工学报, 2018, 39(4): 816-824.
[14]	贾文抖，林春生，孙玉绘，翟国君. 地磁场中磁目标的等效衰减磁矩定位方法[J]. 兵工学报, 2018, 39(2): 283-289.
[15]	伍明，张国良，李琳琳，付光远，李承剑. 基于动态和静态环境对象观测一致性约束的移动机器人多传感器标定优化方法[J]. 兵工学报, 2017, 38(8): 1630-1641.

应用分块三次多项式的导引头测角精度标定

Calibration of Seeker Angle-measuring Error with Block Three-order Polynomial

PDF

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价